#!/bin/sh
#
# @name Reaper 500 Quad
#
# @type Quadrotor H
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @maintainer Blankered
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF = yes ]
then
	param set MC_ROLL_P 6.5
	param set MC_ROLLRATE_P 0.14
	param set MC_ROLLRATE_I 0.1
	param set MC_ROLLRATE_D 0.004
	param set MC_PITCH_P 6
	param set MC_PITCHRATE_P 0.14
	param set MC_PITCHRATE_I 0.09
	param set MC_PITCHRATE_D 0.004
	param set MC_YAW_P 4

	param set NAV_ACC_RAD 2

	param set PWM_AUX_DISARMED 950
	param set PWM_AUX_RATE 50
	param set PWM_MIN 1100
	param set PWM_MAX 1900
	param set PWM_RATE 50

	param set RTL_RETURN_ALT 30
	param set RTL_DESCEND_ALT 10
fi

set MIXER quad_h

set PWM_OUT 1234

set MIXER_AUX pass

set PWM_AUX_OUT 1234
